version = "2.0"
manufacturer = "RobotY"
serialNumber = "Y991A050039AF0005"
mapid="2"
typeSpecification = {
    "seriesName": "L-060-LV-2L-100",
    "seriesDescription": "",
    "maxLoadMass": 0,
    "localizationTypes": [],
    "navigationTypes": []
}

connection = {
    "headerId": '',
    "timestamp": '',
    "version": version,
    "manufacturer": manufacturer,
    "serialNumber": serialNumber,
    "connectionState": "ONLINE"
}
factsheet = {
    "headerId": '',
    "timestamp": '',
    "version": version,
    "manufacturer": manufacturer,
    "serialNumber": serialNumber,
    "typeSpecification": typeSpecification
}

lastWill = {
    "headerId": '1',
    "timestamp": '',
    "version": version,
    "manufacturer": manufacturer,
    "serialNumber": serialNumber,
    "connectionState": "CONNECTIONBROKEN"
}

agvState = {
    "headerId": '',
    "timestamp": '',
    "version": version,
    "manufacturer": manufacturer,
    "serialNumber": serialNumber,
    "orderId": "",
    "orderUpdateId": 0,
    "lastNodeId": "",
    "lastNodeSequenceId": 0,
    "nodeStates": [],
    "edgeStates": [],
    "driving": False,
    "batteryState": {
        "batteryCharge": 77.7,
        "batteryVoltage": 7.7,
        "batteryHeight": 0,
        "charging": False,
        "reach": 0
    },
    "operatingMode": "",
    "errors": [],
    "information": [],
    "agvPosition": {
        "positionInitialized": True,
        "localizationScore": 0.0,
        "deviationRange": 0.0,
        "x": 3,
        "y": 1,
        "theta": 1.57,
        "mapId": mapid,
        "floor": 0,
        "mapDescription": ""
    },
    "velocity": {
        "vx": 0.0,
        "vy": 0.0,
        "omega": 0.0
    },
    "actionStates": [],
    "liftState": {
        "height": 0.0
    },
    "safetyState": {
        "eStop": 'NONE',
        "fieldViolation": False
    }
}

testInstantActions = {
    "headerId":
    '',
    "timestamp":
    '',
    "version":
    version,
    "manufacturer":
    manufacturer,
    "serialNumber":
    serialNumber,
    "actions": [{
        "actionDescription": "request:factsheetRequest",
        "actionId": "37445753-46fb-419b-952f-507c5702caa9",
        "actionParameters": [],
        "actionType": "factsheetRequest",
        "blockingType": "NONE"
    }]
}
testOrder = {
    "headerId":
    '',
    "timestamp":
    '',
    "version":
    version,
    "manufacturer":
    manufacturer,
    "serialNumber":
    serialNumber,
    "orderId":
    "13768",
    "orderUpdateId":
    0,
    "zoneSetId":
    "",
    "nodes": [{
        "nodeId": "10000034[10000033-10000034]<-(3)",
        "sequenceId": 1,
        "nodeDescription": "",
        "released": True,
        "nodePosition": {
            "x": -5.3,
            "y": -3.15,
            "theta": 3.14159,
            "allowedDeviationXY": 0.1,
            "allowedDeviationTheta": 0.1,
            "mapId": "333",
            "mapDescription": ""
        },
        "actions": []
    }, {
        "nodeId": "10000033[10000032-10000033]<-(3)",
        "sequenceId": 3,
        "nodeDescription": "",
        "released": True,
        "nodePosition": {
            "x": -5.95,
            "y": -3.15,
            "theta": 3.14159,
            "allowedDeviationXY": 0.1,
            "allowedDeviationTheta": 0.1,
            "mapId": "333",
            "mapDescription": ""
        },
        "actions": []
    }, {
        "nodeId": "10000033[10000032-10000033]->(3)",
        "sequenceId": 5,
        "nodeDescription": "",
        "released": True,
        "nodePosition": {
            "x": -5.95,
            "y": -3.15,
            "theta": 0.0,
            "allowedDeviationXY": 0.1,
            "allowedDeviationTheta": 0.1,
            "mapId": "333",
            "mapDescription": ""
        },
        "actions": []
    }, {
        "nodeId": "10000032[10000031-10000032]->(3)",
        "sequenceId": 7,
        "nodeDescription": "",
        "released": True,
        "nodePosition": {
            "x": -6.9,
            "y": -3.15,
            "theta": 0.0,
            "allowedDeviationXY": 0.1,
            "allowedDeviationTheta": 0.1,
            "mapId": "333",
            "mapDescription": ""
        },
        "actions": []
    }, {
        "nodeId": "10000031[10000031-10000032]->(3)",
        "sequenceId": 9,
        "nodeDescription": "",
        "released": True,
        "nodePosition": {
            "x": -7.76,
            "y": -3.15,
            "theta": 0.0,
            "allowedDeviationXY": 0.1,
            "allowedDeviationTheta": 0.1,
            "mapId": "333",
            "mapDescription": ""
        },
        "actions": []
    }, {
        "nodeId": "10000031[10000021-10000031]->(3)",
        "sequenceId": 11,
        "nodeDescription": "",
        "released": True,
        "nodePosition": {
            "x": -7.76,
            "y": -3.15,
            "theta": 1.5708,
            "allowedDeviationXY": 0.1,
            "allowedDeviationTheta": 0.1,
            "mapId": "333",
            "mapDescription": ""
        },
        "actions": []
    }],
    "edges": [{
        "edgeId": "10000034->10000033[->](3)",
        "sequenceId": 2,
        "edgeDescription": "",
        "released": True,
        "startNodeId": "10000034[10000033-10000034]<-(3)",
        "endNodeId": "10000033[10000032-10000033]<-(3)",
        "maxSpeed": 0.3,
        "maxHeight": 2.0,
        "minHeight": 0.0,
        "orientation": 0,
        "orientationType": "TANGENTIAL",
        "direction": "FORWARD",
        "rotationAllowed": True,
        "maxRotationSpeed": 1.0,
        "trajectory": {},
        "length": 0.65,
        "actions": []
    }, {
        "edgeId": "0.4949570719256451",
        "sequenceId": 4,
        "edgeDescription": "",
        "released": True,
        "startNodeId": "10000033[10000032-10000033]<-(3)",
        "endNodeId": "10000033[10000032-10000033]->(3)",
        "maxSpeed": 1.0,
        "maxHeight": 2.0,
        "minHeight": 0.0,
        "orientation": 3.14159,
        "orientationType": "TANGENTIAL",
        "direction": "BACKWARD",
        "rotationAllowed": True,
        "maxRotationSpeed": 1.0,
        "trajectory": {},
        "length": 0.0,
        "actions": []
    }, {
        "edgeId": "10000033(3)+10000032(3)->BACKWARD",
        "sequenceId": 6,
        "edgeDescription": "",
        "released": True,
        "startNodeId": "10000033[10000032-10000033]->(3)",
        "endNodeId": "10000032[10000031-10000032]->(3)",
        "maxSpeed": 0.3,
        "maxHeight": 2.0,
        "minHeight": 0.0,
        "orientation": 3.14159,
        "orientationType": "TANGENTIAL",
        "direction": "BACKWARD",
        "rotationAllowed": True,
        "maxRotationSpeed": 1.0,
        "trajectory": {},
        "length": 0.95,
        "actions": []
    }, {
        "edgeId": "10000032(3)+10000031(3)->BACKWARD",
        "sequenceId": 8,
        "edgeDescription": "",
        "released": True,
        "startNodeId": "10000032[10000031-10000032]->(3)",
        "endNodeId": "10000031[10000031-10000032]->(3)",
        "maxSpeed": 0.3,
        "maxHeight": 2.0,
        "minHeight": 0.0,
        "orientation": 3.14159,
        "orientationType": "TANGENTIAL",
        "direction": "BACKWARD",
        "rotationAllowed": True,
        "maxRotationSpeed": 1.0,
        "trajectory": {},
        "length": 0.86,
        "actions": []
    }, {
        "edgeId": "0.6441740088740819",
        "sequenceId": 10,
        "edgeDescription": "",
        "released": True,
        "startNodeId": "10000031[10000031-10000032]->(3)",
        "endNodeId": "10000031[10000021-10000031]->(3)",
        "maxSpeed": 1.0,
        "maxHeight": 2.0,
        "minHeight": 0.0,
        "orientation": 0,
        "orientationType": "TANGENTIAL",
        "direction": "FORWARD",
        "rotationAllowed": True,
        "maxRotationSpeed": 1.0,
        "trajectory": {},
        "length": 0.0,
        "actions": []
    }]
}
